Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with l...

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Detalles Bibliográficos
Autores: Estremera, Joaquín, Cobano, José A., González de Santos, Pablo
Tipo de recurso: artículo
Fecha de publicación:2010
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:dnet:digitalcsic_::547c12f9298e935f2ad72e4a2e9b0b2a
Acceso en línea:http://hdl.handle.net/10261/37330
Access Level:acceso abierto
Palabra clave:Walking robots
Legged robots
Gait generation
Gait planning
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spelling Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian deminingEstremera, JoaquínCobano, José A.González de Santos, PabloWalking robotsLegged robotsGait generationGait planningAutonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.Funding for this paper was provided by CICYT under Grant DPI2001-1595 and DPI2004-05824.Peer reviewedElsevier201120112010info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501http://hdl.handle.net/10261/37330reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1016/j.robot.2009.11.004info:eu-repo/semantics/openAccessoai:dnet:digitalcsic_::547c12f9298e935f2ad72e4a2e9b0b2a2026-05-22T06:33:51Z
dc.title.none.fl_str_mv Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
title Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
spellingShingle Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
Estremera, Joaquín
Walking robots
Legged robots
Gait generation
Gait planning
title_short Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
title_full Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
title_fullStr Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
title_full_unstemmed Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
title_sort Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
dc.creator.none.fl_str_mv Estremera, Joaquín
Cobano, José A.
González de Santos, Pablo
author Estremera, Joaquín
author_facet Estremera, Joaquín
Cobano, José A.
González de Santos, Pablo
author_role author
author2 Cobano, José A.
González de Santos, Pablo
author2_role author
author
dc.subject.none.fl_str_mv Walking robots
Legged robots
Gait generation
Gait planning
topic Walking robots
Legged robots
Gait generation
Gait planning
description Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.
publishDate 2010
dc.date.none.fl_str_mv 2010
2011
2011
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/37330
url http://hdl.handle.net/10261/37330
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1016/j.robot.2009.11.004
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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